Class JointHandle

Defined in File joint_handle.h

Inheritance Relationships

Base Type

public robot_controllers_interface::Handle (Class Handle)

Class Documentation

class JointHandle : public robot_controllers_interface::Handle 

Base class for a joint handle. This will be implemented for each type of robot.

Public Functions

inline JointHandle()

inline virtual ~JointHandle(): Ensure proper cleanup with virtual destructor.

virtual void setPosition(double position, double velocity, double effort) = 0

Set a position command for this joint.

Parameters

position – Position command in radians or meters.
velocity – Velocity command in rad/sec or meters/sec.
effort – Effort command in Nm or N.

virtual void setVelocity(double velocity, double effort) = 0

Set a velocity command for this joint.

Parameters

velocity – Velocity command in rad/sec or meters/sec.
effort – Effort command in Nm or N.

virtual void setEffort(double effort) = 0

Set an effort command for this joint.

Parameters: effort – Effort command in Nm or N.

virtual double getPosition() = 0: Get the position of the joint in radians or meters.

virtual double getVelocity() = 0: Get the velocity of the joint in rad/sec or meters/sec.

virtual double getEffort() = 0: Get applied effort of a joint in Nm or N.

virtual bool isContinuous() = 0: Is this joint continuous (has no position limits).

virtual double getPositionMin() = 0: Get the minimum valid position command.

virtual double getPositionMax() = 0: Get the maximum valid position command.

virtual double getVelocityMax() = 0: Get the maximum velocity command.

virtual double getEffortMax() = 0: Get the maximum effort command.

virtual std::string getName() = 0: Get the name of this joint.

virtual void reset() = 0: Reset the command.